// This file is part of Eigen, a lightweight C++ template library
// for linear algebra.
//
// Copyright (C) 2009 Rohit Garg <rpg.314@gmail.com>
// Copyright (C) 2009-2010 Gael Guennebaud <gael.guennebaud@inria.fr>
//
// This Source Code Form is subject to the terms of the Mozilla
// Public License v. 2.0. If a copy of the MPL was not distributed
// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.

#ifndef EIGEN_GEOMETRY_SIMD_H
#define EIGEN_GEOMETRY_SIMD_H

namespace Eigen {

namespace internal {

    template <class Derived, class OtherDerived> struct quat_product<Architecture::Target, Derived, OtherDerived, float>
    {
        enum
        {
            AAlignment = traits<Derived>::Alignment,
            BAlignment = traits<OtherDerived>::Alignment,
            ResAlignment = traits<Quaternion<float>>::Alignment
        };
        static inline Quaternion<float> run(const QuaternionBase<Derived>& _a, const QuaternionBase<OtherDerived>& _b)
        {
            evaluator<typename Derived::Coefficients> ae(_a.coeffs());
            evaluator<typename OtherDerived::Coefficients> be(_b.coeffs());
            Quaternion<float> res;
            const float neg_zero = numext::bit_cast<float>(0x80000000u);
            const float arr[4] = {0.f, 0.f, 0.f, neg_zero};
            const Packet4f mask = ploadu<Packet4f>(arr);
            Packet4f a = ae.template packet<AAlignment, Packet4f>(0);
            Packet4f b = be.template packet<BAlignment, Packet4f>(0);
            Packet4f s1 = pmul(vec4f_swizzle1(a, 1, 2, 0, 2), vec4f_swizzle1(b, 2, 0, 1, 2));
            Packet4f s2 = pmul(vec4f_swizzle1(a, 3, 3, 3, 1), vec4f_swizzle1(b, 0, 1, 2, 1));
            pstoret<float, Packet4f, ResAlignment>(
                &res.x(),
                padd(psub(pmul(a, vec4f_swizzle1(b, 3, 3, 3, 3)), pmul(vec4f_swizzle1(a, 2, 0, 1, 0), vec4f_swizzle1(b, 1, 2, 0, 0))),
                     pxor(mask, padd(s1, s2))));

            return res;
        }
    };

    template <class Derived> struct quat_conj<Architecture::Target, Derived, float>
    {
        enum
        {
            ResAlignment = traits<Quaternion<float>>::Alignment
        };
        static inline Quaternion<float> run(const QuaternionBase<Derived>& q)
        {
            evaluator<typename Derived::Coefficients> qe(q.coeffs());
            Quaternion<float> res;
            const float neg_zero = numext::bit_cast<float>(0x80000000u);
            const float arr[4] = {neg_zero, neg_zero, neg_zero, 0.f};
            const Packet4f mask = ploadu<Packet4f>(arr);
            pstoret<float, Packet4f, ResAlignment>(&res.x(), pxor(mask, qe.template packet<traits<Derived>::Alignment, Packet4f>(0)));
            return res;
        }
    };

    template <typename VectorLhs, typename VectorRhs> struct cross3_impl<Architecture::Target, VectorLhs, VectorRhs, float, true>
    {
        enum
        {
            ResAlignment = traits<typename plain_matrix_type<VectorLhs>::type>::Alignment
        };
        static inline typename plain_matrix_type<VectorLhs>::type run(const VectorLhs& lhs, const VectorRhs& rhs)
        {
            evaluator<VectorLhs> lhs_eval(lhs);
            evaluator<VectorRhs> rhs_eval(rhs);
            Packet4f a = lhs_eval.template packet<traits<VectorLhs>::Alignment, Packet4f>(0);
            Packet4f b = rhs_eval.template packet<traits<VectorRhs>::Alignment, Packet4f>(0);
            Packet4f mul1 = pmul(vec4f_swizzle1(a, 1, 2, 0, 3), vec4f_swizzle1(b, 2, 0, 1, 3));
            Packet4f mul2 = pmul(vec4f_swizzle1(a, 2, 0, 1, 3), vec4f_swizzle1(b, 1, 2, 0, 3));
            typename plain_matrix_type<VectorLhs>::type res;
            pstoret<float, Packet4f, ResAlignment>(&res.x(), psub(mul1, mul2));
            return res;
        }
    };

#if (defined EIGEN_VECTORIZE_SSE) || (EIGEN_ARCH_ARM64)

    template <class Derived, class OtherDerived> struct quat_product<Architecture::Target, Derived, OtherDerived, double>
    {
        enum
        {
            BAlignment = traits<OtherDerived>::Alignment,
            ResAlignment = traits<Quaternion<double>>::Alignment
        };

        static inline Quaternion<double> run(const QuaternionBase<Derived>& _a, const QuaternionBase<OtherDerived>& _b)
        {
            Quaternion<double> res;

            evaluator<typename Derived::Coefficients> ae(_a.coeffs());
            evaluator<typename OtherDerived::Coefficients> be(_b.coeffs());

            const double* a = _a.coeffs().data();
            Packet2d b_xy = be.template packet<BAlignment, Packet2d>(0);
            Packet2d b_zw = be.template packet<BAlignment, Packet2d>(2);
            Packet2d a_xx = pset1<Packet2d>(a[0]);
            Packet2d a_yy = pset1<Packet2d>(a[1]);
            Packet2d a_zz = pset1<Packet2d>(a[2]);
            Packet2d a_ww = pset1<Packet2d>(a[3]);

            // two temporaries:
            Packet2d t1, t2;

            /*
   * t1 = ww*xy + yy*zw
   * t2 = zz*xy - xx*zw
   * res.xy = t1 +/- swap(t2)
   */
            t1 = padd(pmul(a_ww, b_xy), pmul(a_yy, b_zw));
            t2 = psub(pmul(a_zz, b_xy), pmul(a_xx, b_zw));
            pstoret<double, Packet2d, ResAlignment>(&res.x(), paddsub(t1, preverse(t2)));

            /*
   * t1 = ww*zw - yy*xy
   * t2 = zz*zw + xx*xy
   * res.zw = t1 -/+ swap(t2) = swap( swap(t1) +/- t2)
   */
            t1 = psub(pmul(a_ww, b_zw), pmul(a_yy, b_xy));
            t2 = padd(pmul(a_zz, b_zw), pmul(a_xx, b_xy));
            pstoret<double, Packet2d, ResAlignment>(&res.z(), preverse(paddsub(preverse(t1), t2)));

            return res;
        }
    };

    template <class Derived> struct quat_conj<Architecture::Target, Derived, double>
    {
        enum
        {
            ResAlignment = traits<Quaternion<double>>::Alignment
        };
        static inline Quaternion<double> run(const QuaternionBase<Derived>& q)
        {
            evaluator<typename Derived::Coefficients> qe(q.coeffs());
            Quaternion<double> res;
            const double neg_zero = numext::bit_cast<double>(0x8000000000000000ull);
            const double arr1[2] = {neg_zero, neg_zero};
            const double arr2[2] = {neg_zero, 0.0};
            const Packet2d mask0 = ploadu<Packet2d>(arr1);
            const Packet2d mask2 = ploadu<Packet2d>(arr2);
            pstoret<double, Packet2d, ResAlignment>(&res.x(), pxor(mask0, qe.template packet<traits<Derived>::Alignment, Packet2d>(0)));
            pstoret<double, Packet2d, ResAlignment>(&res.z(), pxor(mask2, qe.template packet<traits<Derived>::Alignment, Packet2d>(2)));
            return res;
        }
    };

#endif  // end EIGEN_VECTORIZE_SSE_OR_EIGEN_ARCH_ARM64

}  // end namespace internal

}  // end namespace Eigen

#endif  // EIGEN_GEOMETRY_SIMD_H
